Jungfraujoch/image_pusher/TCPStreamPusher.cpp

// SPDX-FileCopyrightText: 2025 Filip Leonarski, Paul Scherrer Institute <filip.leonarski@psi.ch>
// SPDX-License-Identifier: GPL-3.0-only

#include "TCPStreamPusher.h"

#include <limits>
#include <poll.h>
#include <cerrno>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/tcp.h>
#include <unistd.h>
#include <chrono>

namespace {
int64_t SteadyNowNs() {
    return std::chrono::duration_cast<std::chrono::nanoseconds>(
        std::chrono::steady_clock::now().time_since_epoch()).count();
}
}

std::pair<std::string, std::optional<uint16_t>> TCPStreamPusher::ParseTcpAddress(const std::string& addr) {
    const std::string prefix = "tcp://";
    if (addr.rfind(prefix, 0) != 0)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "Invalid TCP address: " + addr);

    auto hp = addr.substr(prefix.size());
    auto p = hp.find_last_of(':');
    if (p == std::string::npos)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "Invalid TCP address: " + addr);

    const auto host = hp.substr(0, p);
    const auto port_str = hp.substr(p + 1);

    if (port_str == "*")
        return {host, std::nullopt};

    int port_i = 0;
    try {
        size_t parsed = 0;
        port_i = std::stoi(port_str, &parsed);
        if (parsed != port_str.size())
            throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "Invalid TCP port in address: " + addr);
    } catch (...) {
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "Invalid TCP port in address: " + addr);
    }

    if (port_i < 1 || port_i > static_cast<int>(std::numeric_limits<uint16_t>::max()))
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "TCP port out of range in address: " + addr);

    return {host, static_cast<uint16_t>(port_i)};
}

std::pair<int, std::string> TCPStreamPusher::OpenListenSocket(const std::string& addr) {
    auto [host, port_opt] = ParseTcpAddress(addr);

    int listen_fd = ::socket(AF_INET, SOCK_STREAM, 0);
    if (listen_fd < 0)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "socket(listen) failed");

    int one = 1;
    setsockopt(listen_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));

    sockaddr_in sin{};
    sin.sin_family = AF_INET;
    sin.sin_port = htons(port_opt.has_value() ? port_opt.value() : 0);
    if (host == "*" || host == "0.0.0.0")
        sin.sin_addr.s_addr = htonl(INADDR_ANY);
    else if (inet_pton(AF_INET, host.c_str(), &sin.sin_addr) != 1)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "inet_pton failed for " + host);

    if (bind(listen_fd, reinterpret_cast<sockaddr*>(&sin), sizeof(sin)) != 0)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "bind() failed to " + addr);

    if (listen(listen_fd, 64) != 0)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "listen() failed on " + addr);

    sockaddr_in actual{};
    socklen_t actual_len = sizeof(actual);
    if (getsockname(listen_fd, reinterpret_cast<sockaddr*>(&actual), &actual_len) != 0)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "getsockname() failed on " + addr);

    const uint16_t bound_port = ntohs(actual.sin_port);
    const std::string normalized_host = (host == "*") ? "0.0.0.0" : host;
    const std::string bound_endpoint = "tcp://" + normalized_host + ":" + std::to_string(bound_port);

    return {listen_fd, bound_endpoint};
}

int TCPStreamPusher::AcceptOne(int listen_fd, std::chrono::milliseconds timeout) {
    pollfd pfd{};
    pfd.fd = listen_fd;
    pfd.events = POLLIN;

    const int prc = poll(&pfd, 1, static_cast<int>(timeout.count()));
    if (prc <= 0)
        return -1;
    if ((pfd.revents & (POLLERR | POLLHUP | POLLNVAL)) != 0)
        return -1;

    return accept(listen_fd, nullptr, nullptr);
}

void TCPStreamPusher::CloseFd(std::atomic<int>& fd) {
    int old_fd = fd.exchange(-1);
    if (old_fd >= 0) {
        shutdown(old_fd, SHUT_RDWR);
        close(old_fd);
    }
}

TCPStreamPusher::TCPStreamPusher(const std::string& addr,
                                 size_t in_max_connections,
                                 std::optional<int32_t> in_send_buffer_size)
    : endpoint(addr),
      max_connections(in_max_connections),
      send_buffer_size(in_send_buffer_size) {
    if (endpoint.empty())
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "No TCP writer address provided");
    if (max_connections == 0)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "Max TCP connections cannot be zero");

    auto [lfd, bound_endpoint] = OpenListenSocket(endpoint);
    listen_fd.store(lfd);
    endpoint = bound_endpoint;

    acceptor_running = true;
    acceptor_future = std::async(std::launch::async, &TCPStreamPusher::AcceptorThread, this);
    keepalive_future = std::async(std::launch::async, &TCPStreamPusher::KeepaliveThread, this);

    logger.Info("TCPStreamPusher listening on " + endpoint + " (max " + std::to_string(max_connections) + " connections)");
}

TCPStreamPusher::~TCPStreamPusher() {
    // 1. Stop acceptor + keepalive threads (they take connections_mutex briefly)
    acceptor_running = false;
    int lfd = listen_fd.exchange(-1);
    if (lfd >= 0) {
        shutdown(lfd, SHUT_RDWR);
        close(lfd);
    }
    if (acceptor_future.valid())
        acceptor_future.get();
    if (keepalive_future.valid())
        keepalive_future.get();

    // 2. Now no background threads touch connections_mutex. Tear down connections.
    //    We do NOT hold the mutex while joining futures, to avoid deadlock.
    std::vector<std::shared_ptr<Connection>> local_connections;
    {
        std::lock_guard lg(connections_mutex);
        local_connections = std::move(connections);
        connections.clear();
        session_connections.clear();
        calibration_connection.reset();
    }

    for (auto& c : local_connections) {
        if (c)
            TearDownConnection(*c);
    }
}

void TCPStreamPusher::TearDownConnection(Connection& c) {
    StopDataCollectionThreads(c);
    c.connected = false;
    c.broken = true;
    CloseFd(c.fd);
    JoinPersistentAck(c);
}

// The persistent ack reader is joined both here and by the acceptor when it reaps a dead
// connection, so the join takes the same per-connection lock the writer join does.
void TCPStreamPusher::JoinPersistentAck(Connection& c) {
    std::lock_guard teardown(c.teardown_mutex);
    if (c.persistent_ack_future.valid())
        c.persistent_ack_future.get();
}

bool TCPStreamPusher::IsConnectionAlive(const Connection& c) const {
    if (c.broken)
        return false;

    const int local_fd = c.fd.load();
    if (local_fd < 0)
        return false;

    pollfd pfd{};
    pfd.fd = local_fd;
    pfd.events = POLLOUT;
    if (poll(&pfd, 1, 0) < 0)
        return false;
    if ((pfd.revents & (POLLHUP | POLLNVAL)) != 0)
        return false;

    int so_error = 0;
    socklen_t len = sizeof(so_error);
    if (getsockopt(local_fd, SOL_SOCKET, SO_ERROR, &so_error, &len) != 0)
        return false;

    return so_error == 0;
}

bool TCPStreamPusher::SendAll(Connection& c, const void* buf, size_t len) {
    const auto* p = static_cast<const uint8_t*>(buf);
    size_t sent = 0;
    int64_t last_progress_ns = SteadyNowNs();

    while (sent < len) {
        const int local_fd = c.fd.load();
        if (local_fd < 0 || c.broken)
            return false;

        const int64_t now_ns = SteadyNowNs();

        // Treat backpressure as fatal only if the peer shows NO sign of life. A busy
        // writer keeps refreshing last_peer_activity_ns via BUSY heartbeats / ACKs, so
        // we wait through long stalls; only a silent peer trips this timeout.
        const int64_t silent_ns = now_ns - c.last_peer_activity_ns.load(std::memory_order_relaxed);
        if (silent_ns > std::chrono::duration_cast<std::chrono::nanoseconds>(peer_liveness_timeout).count()) {
            logger.Warning("No liveness from writer on socket " + std::to_string(c.socket_number) +
                           " for " + std::to_string(silent_ns / 1000000) + " ms while sending; marking broken");
            c.broken = true;
            CloseFd(c.fd);
            return false;
        }

        // Hard backpressure cap: a writer may keep heartbeating yet never drain (e.g. a
        // permanently wedged filesystem). If no bytes leave the socket for this long, give
        // up regardless of heartbeats so the run -- and its finalization -- cannot hang.
        if (now_ns - last_progress_ns >
            std::chrono::duration_cast<std::chrono::nanoseconds>(max_backpressure_timeout).count()) {
            logger.Warning("No send progress to writer on socket " + std::to_string(c.socket_number) +
                           " for " + std::to_string((now_ns - last_progress_ns) / 1000000) +
                           " ms despite heartbeats; marking broken");
            c.broken = true;
            CloseFd(c.fd);
            return false;
        }

        pollfd pfd{};
        pfd.fd = local_fd;
        pfd.events = POLLOUT;
        const int prc = poll(&pfd, 1, static_cast<int>(send_poll_timeout.count()));
        if (prc < 0) {
            if (errno == EINTR)
                continue;
            c.broken = true;
            CloseFd(c.fd);
            return false;
        }
        if (prc == 0)
            continue;
        if ((pfd.revents & (POLLERR | POLLHUP | POLLNVAL)) != 0 && !(pfd.revents & POLLOUT)) {
            c.broken = true;
            CloseFd(c.fd);
            return false;
        }

        ssize_t rc = ::send(local_fd, p + sent, len - sent, MSG_NOSIGNAL);
        if (rc < 0) {
            if (errno == EINTR || errno == EAGAIN || errno == EWOULDBLOCK)
                continue;

            if (errno == EPIPE || errno == ECONNRESET || errno == ENOTCONN) {
                c.broken = true;
                CloseFd(c.fd);
            }
            return false;
        }

        sent += static_cast<size_t>(rc);
        last_progress_ns = SteadyNowNs();
    }

    return true;
}

bool TCPStreamPusher::SendFrame(Connection& c, const uint8_t* data, size_t size, TCPFrameType type, int64_t image_number) {
    TcpFrameHeader h{};
    h.type = static_cast<uint16_t>(type);
    h.payload_size = size;
    h.image_number = image_number >= 0 ? static_cast<uint64_t>(image_number) : 0;
    h.socket_number = c.socket_number;
    h.run_number = run_number;

    if (!SendAll(c, &h, sizeof(h)))
        return false;

    if (size > 0 && !SendAll(c, data, size))
        return false;

    return true;
}

bool TCPStreamPusher::ReadExact(Connection& c, void* buf, size_t len) {
    auto* p = static_cast<uint8_t*>(buf);
    size_t got = 0;

    while (got < len) {
        if (!c.active)
            return false;

        const int local_fd = c.fd.load();
        if (local_fd < 0)
            return false;

        pollfd pfd{};
        pfd.fd = local_fd;
        pfd.events = POLLIN;

        const int prc = poll(&pfd, 1, 100);
        if (prc == 0)
            continue;
        if (prc < 0) {
            if (errno == EINTR)
                continue;
            return false;
        }
        if ((pfd.revents & (POLLHUP | POLLNVAL)) != 0 && !(pfd.revents & POLLIN))
            return false;
        if ((pfd.revents & POLLIN) == 0)
            continue;

        ssize_t rc = ::recv(local_fd, p + got, len - got, 0);
        if (rc == 0)
            return false;
        if (rc < 0) {
            if (errno == EINTR || errno == EAGAIN || errno == EWOULDBLOCK)
                continue;
            return false;
        }

        got += static_cast<size_t>(rc);
    }

    return true;
}

bool TCPStreamPusher::ReadExactPersistent(Connection& c, void* buf, size_t len) {
    auto* p = static_cast<uint8_t*>(buf);
    size_t got = 0;

    while (got < len) {
        if (!c.connected || c.broken)
            return false;

        const int local_fd = c.fd.load();
        if (local_fd < 0)
            return false;

        pollfd pfd{};
        pfd.fd = local_fd;
        pfd.events = POLLIN;

        const int prc = poll(&pfd, 1, 500);
        if (prc == 0)
            continue;
        if (prc < 0) {
            if (errno == EINTR)
                continue;
            return false;
        }
        // Only bail if the peer hung up / the fd is invalid and there is no readable
        // data left to drain.
        if ((pfd.revents & (POLLHUP | POLLNVAL)) != 0 && !(pfd.revents & POLLIN))
            return false;
        if ((pfd.revents & POLLIN) == 0)
            continue;

        ssize_t rc = ::recv(local_fd, p + got, len - got, 0);
        if (rc == 0)
            return false;  // Peer closed connection
        if (rc < 0) {
            if (errno == EINTR || errno == EAGAIN || errno == EWOULDBLOCK)
                continue;
            return false;
        }

        got += static_cast<size_t>(rc);
    }

    return true;
}

void TCPStreamPusher::WriterThread(Connection* c) {
    // Drain the queue until the end sentinel. We deliberately do NOT stop on c->active
    // alone: StopDataCollectionThreads() clears active and then pushes the sentinel, and
    // every DATA frame enqueued before that sentinel must still be sent. Otherwise END
    // (sent by EndDataCollection after stopping this thread) could overtake images that
    // are merely waiting in the queue, and the writer would finalize before receiving them.
    while (true) {
        auto e = c->queue.GetBlocking();
        if (e.end)
            break;
        if (!e.z)
            continue;

        if (c->broken) {
            e.z->release();
            continue;
        }

        bool ok;
        {
            std::unique_lock ul(c->send_mutex);
            ok = SendFrame(*c,
                           static_cast<const uint8_t*>(e.z->GetImage()),
                           e.z->GetImageSize(),
                           TCPFrameType::DATA,
                           e.z->GetImageNumber());
        }

        // Synchronous send: once send() returns, the payload has been copied into the
        // kernel socket buffer, so the image-buffer slot can be returned immediately.
        e.z->release();

        if (!ok) {
            c->broken = true;
            logger.Error("TCP send failed on socket " + std::to_string(c->socket_number));
        }
    }
}

void TCPStreamPusher::PersistentAckThread(Connection* c) {
    while (c->connected && !c->broken) {
        TcpFrameHeader h{};
        if (!ReadExactPersistent(*c, &h, sizeof(h))) {
            if (c->connected && !c->broken) {
                c->broken = true;
                logger.Info("Persistent connection lost on socket " + std::to_string(c->socket_number));
            }
            break;
        }

        if (h.magic != JFJOCH_TCP_MAGIC || h.version != JFJOCH_TCP_VERSION) {
            c->broken = true;
            logger.Error("Invalid frame on persistent connection, socket " + std::to_string(c->socket_number));
            break;
        }

        if (h.payload_size > JFJOCH_TCP_MAX_PAYLOAD_SIZE) {
            c->broken = true;
            logger.Error("Oversized payload on persistent connection, socket " + std::to_string(c->socket_number));
            break;
        }

        // Any well-formed frame from the peer is a sign of life.
        c->last_peer_activity_ns.store(SteadyNowNs(), std::memory_order_relaxed);

        const auto frame_type = static_cast<TCPFrameType>(h.type);

        // Keepalive pong from the writer
        if (frame_type == TCPFrameType::KEEPALIVE) {
            c->last_keepalive_recv = std::chrono::steady_clock::now();
            if (h.payload_size > 0) {
                std::vector<uint8_t> discard(h.payload_size);
                ReadExactPersistent(*c, discard.data(), discard.size());
            }
            continue;
        }

        // Busy/backpressure heartbeat: the writer is alive but stalled. The liveness
        // timestamp update above is all we need; just record reported FIFO occupancy.
        if (frame_type == TCPFrameType::BUSY) {
            c->last_ack_fifo_occupancy.store(h.ack_fifo_occupancy, std::memory_order_relaxed);
            if (h.payload_size > 0) {
                std::vector<uint8_t> discard(h.payload_size);
                ReadExactPersistent(*c, discard.data(), discard.size());
            }
            continue;
        }

        if (frame_type != TCPFrameType::ACK) {
            c->broken = true;
            logger.Error("Unexpected frame type " + std::to_string(h.type) + " on socket " + std::to_string(c->socket_number));
            break;
        }

        c->last_ack_fifo_occupancy.store(h.ack_fifo_occupancy, std::memory_order_relaxed);

        // ACK frame — forward to data-collection ack logic
        std::string error_text;
        if (h.payload_size > 0) {
            error_text.resize(h.payload_size);
            if (!ReadExactPersistent(*c, error_text.data(), error_text.size())) {
                c->broken = true;
                break;
            }
        }

        const auto ack_for = static_cast<TCPFrameType>(h.ack_for);
        const bool ok = (h.flags & TCP_ACK_FLAG_OK) != 0;
        const bool fatal = (h.flags & TCP_ACK_FLAG_FATAL) != 0;
        const auto code = static_cast<TCPAckCode>(h.ack_code);

        // Validate run number: discard stale ACKs from a previous run on a persistent connection
        if (h.run_number != run_number) {
            logger.Warning("Discarding ACK with stale run_number " + std::to_string(h.run_number)
                           + " (expected " + std::to_string(run_number.load()) + ") on socket "
                           + std::to_string(c->socket_number));
            continue;
        }

        {
            std::unique_lock ul(c->ack_mutex);
            c->last_ack_code = code;
            if (!error_text.empty())
                c->last_ack_error = error_text;

            if (ack_for == TCPFrameType::PREFLIGHT) {
                c->preflight_ack_received = true;
                c->preflight_ack_ok = ok;
                if (!ok && error_text.empty())
                    c->last_ack_error = "PREFLIGHT rejected";
            } else if (ack_for == TCPFrameType::START) {
                c->start_ack_received = true;
                c->start_ack_ok = ok;
                if (!ok && error_text.empty())
                    c->last_ack_error = "START rejected";
            } else if (ack_for == TCPFrameType::END) {
                c->end_ack_received = true;
                c->end_ack_ok = ok;
                if (!ok && error_text.empty())
                    c->last_ack_error = "END rejected";
            } else if (ack_for == TCPFrameType::CANCEL) {
                c->cancel_ack_received = true;
                c->cancel_ack_ok = ok;
                if (!ok && error_text.empty())
                    c->last_ack_error = "CANCEL rejected";
            } else if (ack_for == TCPFrameType::DATA) {
                c->data_acked_total.fetch_add(1, std::memory_order_relaxed);
                total_data_acked_total.fetch_add(1, std::memory_order_relaxed);
                if (ok && !fatal) {
                    c->data_acked_ok.fetch_add(1, std::memory_order_relaxed);
                    total_data_acked_ok.fetch_add(1, std::memory_order_relaxed);
                } else {
                    c->data_acked_bad.fetch_add(1, std::memory_order_relaxed);
                    total_data_acked_bad.fetch_add(1, std::memory_order_relaxed);
                    c->data_ack_error_reported = true;
                    if (!error_text.empty()) {
                        c->data_ack_error_text = error_text;
                    } else if (c->data_ack_error_text.empty()) {
                        c->data_ack_error_text = "DATA ACK failed";
                    }
                }
            }
        }

        c->ack_cv.notify_all();
    }

    // If the connection broke, also wake up anyone waiting for an ACK
    c->ack_cv.notify_all();
}

void TCPStreamPusher::AcceptorThread() {
    uint32_t next_socket_number = 0;

    while (acceptor_running) {
        int lfd = listen_fd.load();
        if (lfd < 0)
            break;

        int new_fd = AcceptOne(lfd, std::chrono::milliseconds(500));
        if (new_fd < 0)
            continue;

        std::vector<std::shared_ptr<Connection>> dead;
        bool rejected = false;
        size_t total = 0;
        {
            std::lock_guard lg(connections_mutex);
            dead = DetachDeadConnections();

            if (connections.size() >= max_connections) {
                rejected = true;
            } else {
                SetupNewConnection(new_fd, next_socket_number++);
                total = connections.size();
            }
        }

        // Outside the lock: this joins writer threads that may be mid-send.
        CloseDeadConnections(dead);

        if (rejected) {
            logger.Warning("Max connections (" + std::to_string(max_connections) +
                          ") reached, rejecting new connection");
            shutdown(new_fd, SHUT_RDWR);
            close(new_fd);
            continue;
        }

        logger.Info("Accepted writer connection (socket_number=" + std::to_string(next_socket_number - 1) +
                   ", total=" + std::to_string(total) + ")");
    }
}

void TCPStreamPusher::SetupNewConnection(int new_fd, uint32_t socket_number) {
    auto c = std::make_shared<Connection>(send_queue_size);
    c->socket_number = socket_number;
    c->fd.store(new_fd);

    int one = 1;
    setsockopt(new_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));

    // Enable OS-level TCP keep-alive
    setsockopt(new_fd, SOL_SOCKET, SO_KEEPALIVE, &one, sizeof(one));
    int idle = 30;   // longer than app-level keepalive to avoid interference
    int intvl = 10;
    int cnt = 3;
    setsockopt(new_fd, IPPROTO_TCP, TCP_KEEPIDLE, &idle, sizeof(idle));
    setsockopt(new_fd, IPPROTO_TCP, TCP_KEEPINTVL, &intvl, sizeof(intvl));
    setsockopt(new_fd, IPPROTO_TCP, TCP_KEEPCNT, &cnt, sizeof(cnt));

    if (send_buffer_size)
        setsockopt(new_fd, SOL_SOCKET, SO_SNDBUF, &send_buffer_size.value(), sizeof(int32_t));

    c->connected = true;
    c->broken = false;
    auto now = std::chrono::steady_clock::now();
    c->last_keepalive_sent = now;
    c->last_keepalive_recv = now;
    c->last_peer_activity_ns.store(SteadyNowNs(), std::memory_order_relaxed);

    auto* raw = c.get();
    c->persistent_ack_future = std::async(std::launch::async, &TCPStreamPusher::PersistentAckThread, this, raw);

    connections.emplace_back(std::move(c));
}

std::vector<std::shared_ptr<TCPStreamPusher::Connection>> TCPStreamPusher::DetachDeadConnections() {
    // Must be called with connections_mutex held. Only unlinks them from the pool - which is quick -
    // and hands them back for the caller to close once the mutex is released. Tearing them down here
    // would join a writer thread that can be sitting in a send for up to max_backpressure_timeout,
    // with connections_mutex held the whole time.
    std::vector<std::shared_ptr<Connection>> dead;
    auto it = connections.begin();
    while (it != connections.end()) {
        auto c = *it;
        if (c->broken || !c->connected || !IsConnectionAlive(*c)) {
            c->connected = false;
            c->broken = true;
            dead.push_back(c);
            it = connections.erase(it);
        } else {
            ++it;
        }
    }
    return dead;
}

void TCPStreamPusher::CloseDeadConnections(const std::vector<std::shared_ptr<Connection>> &dead) {
    // Blocking: joins the writer thread, which may be inside a send. Never call with
    // connections_mutex held. These are out of the pool, but a control-plane call that copied the
    // pool before the erase still holds a shared_ptr to them, so the joins below take the
    // connection's own teardown lock rather than assuming exclusive access.
    for (const auto &c : dead) {
        StopDataCollectionThreads(*c);
        CloseFd(c->fd);

        JoinPersistentAck(*c);

        logger.Info("Removed dead connection (socket_number=" + std::to_string(c->socket_number) + ")");
    }
}

void TCPStreamPusher::KeepaliveThread() {
    while (acceptor_running) {
        // Sleep in small increments so we can exit promptly
        for (int i = 0; i < 50 && acceptor_running; ++i)
            std::this_thread::sleep_for(std::chrono::milliseconds(100));
        if (!acceptor_running)
            break;

        // During data collection, the data flow itself serves as heartbeat
        if (data_collection_active)
            continue;

        // Copy the pool out and send with the mutex released. SendFrame blocks until the peer
        // liveness or backpressure timeout, and holding connections_mutex across that stalls
        // SendImage and every /statistics poll behind an idle-time keepalive.
        std::vector<std::shared_ptr<Connection>> local_connections;
        {
            std::lock_guard lg(connections_mutex);
            local_connections = connections;
        }

        for (auto& cptr : local_connections) {
            auto& c = *cptr;
            if (c.broken || !c.connected)
                continue;

            std::unique_lock ul(c.send_mutex);
            if (!SendFrame(c, nullptr, 0, TCPFrameType::KEEPALIVE, -1)) {
                logger.Warning("Keepalive send failed on socket " + std::to_string(c.socket_number));
                c.broken = true;
            } else {
                c.last_keepalive_sent = std::chrono::steady_clock::now();
            }
        }

        std::vector<std::shared_ptr<Connection>> dead;
        {
            std::lock_guard lg(connections_mutex);
            dead = DetachDeadConnections();
        }
        CloseDeadConnections(dead);
    }
}

size_t TCPStreamPusher::GetConnectedWriters() const {
    std::lock_guard lg(connections_mutex);
    size_t count = 0;
    for (const auto& c : connections) {
        if (c->connected && !c->broken)
            ++count;
    }
    return count;
}

void TCPStreamPusher::StartDataCollectionThreads(Connection& c) {
    {
        std::unique_lock ul(c.ack_mutex);
        c.preflight_ack_received = false;
        c.preflight_ack_ok = false;
        c.start_ack_received = false;
        c.start_ack_ok = false;
        c.end_ack_received = false;
        c.end_ack_ok = false;
        c.cancel_ack_received = false;
        c.cancel_ack_ok = false;
        c.last_ack_error.clear();
        c.last_ack_code = TCPAckCode::None;
        c.data_ack_error_reported = false;
        c.data_ack_error_text.clear();
    }

    c.data_acked_ok.store(0, std::memory_order_relaxed);
    c.data_acked_bad.store(0, std::memory_order_relaxed);
    c.data_acked_total.store(0, std::memory_order_relaxed);

    c.active = true;
    c.writer_future = std::async(std::launch::async, &TCPStreamPusher::WriterThread, this, &c);
}

void TCPStreamPusher::StopDataCollectionThreads(Connection& c) {
    // One thread at a time per connection: the acceptor can be reaping this connection while the
    // control plane is starting or ending a run on it, and both end in writer_future.get().
    std::lock_guard teardown(c.teardown_mutex);

    if (!c.active)
        return;

    c.active = false;

    // Avoid potential shutdown deadlock if queue is full and writer is stalled.
    if (!c.queue.PutTimeout({.end = true}, std::chrono::milliseconds(200))) {
        c.broken = true;
        CloseFd(c.fd);
        // active==false makes WriterThread exit without draining, so return any
        // queued-but-unsent slots to the image buffer pool ourselves.
        ImagePusherQueueElement e{};
        while (c.queue.Get(e)) {
            if (e.z)
                e.z->release();
        }
        (void)c.queue.Put({.end = true});
    }

    c.ack_cv.notify_all();

    if (c.writer_future.valid())
        c.writer_future.get();
}

bool TCPStreamPusher::WaitForAck(Connection& c, TCPFrameType ack_for, std::chrono::milliseconds timeout, std::string* error_text) {
    std::unique_lock ul(c.ack_mutex);
    const bool ok = c.ack_cv.wait_for(ul, timeout, [&] {
        if (ack_for == TCPFrameType::PREFLIGHT)
            return c.preflight_ack_received || c.broken.load();
        if (ack_for == TCPFrameType::START)
            return c.start_ack_received || c.broken.load();
        if (ack_for == TCPFrameType::END)
            return c.end_ack_received || c.broken.load();
        if (ack_for == TCPFrameType::CANCEL)
            return c.cancel_ack_received || c.broken.load();
        return false;
    });

    if (!ok) {
        if (error_text) *error_text = "ACK timeout";
        return false;
    }

    if (c.broken) {
        if (error_text) *error_text = c.last_ack_error.empty() ? "Socket broken" : c.last_ack_error;
        return false;
    }

    bool ack_ok = false;
    if (ack_for == TCPFrameType::PREFLIGHT) ack_ok = c.preflight_ack_ok;
    if (ack_for == TCPFrameType::START) ack_ok = c.start_ack_ok;
    if (ack_for == TCPFrameType::END) ack_ok = c.end_ack_ok;
    if (ack_for == TCPFrameType::CANCEL) ack_ok = c.cancel_ack_ok;

    if (!ack_ok && error_text)
        *error_text = c.last_ack_error.empty() ? "ACK rejected" : c.last_ack_error;

    return ack_ok;
}

bool TCPStreamPusher::WaitForEndAck(Connection& c, std::chrono::milliseconds liveness_timeout, std::string* error_text) {
    std::unique_lock ul(c.ack_mutex);

    // After END is sent the writer may still be flushing a backlog to a slow filesystem.
    // It keeps proving it is alive via BUSY heartbeats and DATA ACKs (both refresh
    // last_peer_activity_ns), so we wait through arbitrarily long stalls and only give up
    // if the peer falls completely silent for the whole liveness window.
    while (!c.end_ack_received && !c.broken) {
        c.ack_cv.wait_for(ul, liveness_timeout, [&] {
            return c.end_ack_received || c.broken.load();
        });

        if (c.end_ack_received || c.broken)
            break;

        const int64_t silent_ns = SteadyNowNs() - c.last_peer_activity_ns.load(std::memory_order_relaxed);
        if (silent_ns > std::chrono::duration_cast<std::chrono::nanoseconds>(liveness_timeout).count()) {
            if (error_text) *error_text = "END ACK timeout (writer silent)";
            return false;
        }
    }

    if (c.broken) {
        if (error_text) *error_text = c.last_ack_error.empty() ? "Socket broken" : c.last_ack_error;
        return false;
    }

    if (!c.end_ack_ok && error_text)
        *error_text = c.last_ack_error.empty() ? "END ACK rejected" : c.last_ack_error;

    return c.end_ack_ok;
}

void TCPStreamPusher::Preflight(StartMessage& message) {
    std::vector<std::shared_ptr<Connection>> local_connections;
    {
        std::lock_guard lg(connections_mutex);
        for (const auto& c : connections) {
            if (c->connected && !c->broken)
                local_connections.push_back(c);
        }
    }

    if (local_connections.empty())
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid,
                              "No writers connected to " + endpoint);

    // Set before the first frame goes out: PersistentAckThread discards any ACK whose run_number
    // does not match, so an ACK for this run would be thrown away if run_number still named the
    // previous one. StartDataCollection sets it again to the same value a moment later.
    run_number = message.run_number;

    for (size_t i = 0; i < local_connections.size(); i++) {
        auto& c = *local_connections[i];

        // The same assignment StartDataCollection makes, so exactly one writer runs the check. It
        // does NOT have to fall on the same connection there as here - the pool can lose a writer in
        // between, and START re-derives index 0 after detaching the dead ones. Every writer of a run
        // works on the same filesystem, so any of them answers the same question about the same
        // files; which one is asked does not change the answer.
        message.socket_number = static_cast<int64_t>(c.socket_number);
        message.write_master_file = (i == 0);

        {
            std::unique_lock ul(c.ack_mutex);
            c.preflight_ack_received = false;
            c.preflight_ack_ok = false;
            c.last_ack_error.clear();
        }

        serializer.SerializeSequenceStart(message);

        {
            std::unique_lock ul(c.send_mutex);
            if (!SendFrame(c, serialization_buffer.data(), serializer.GetBufferSize(), TCPFrameType::PREFLIGHT, -1))
                throw JFJochException(JFJochExceptionCategory::FileWriteError,
                                      "Timeout/failure sending PREFLIGHT on socket "
                                      + std::to_string(c.socket_number));
        }

        std::string ack_err;
        if (!WaitForAck(c, TCPFrameType::PREFLIGHT, std::chrono::seconds(5), &ack_err))
            throw JFJochException(JFJochExceptionCategory::FileWriteError,
                                  "Pre-flight check failed on socket " + std::to_string(c.socket_number)
                                  + ": " + ack_err);
    }
}

void TCPStreamPusher::StartDataCollection(StartMessage& message) {
    if (message.images_per_file < 1)
        throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "Images per file cannot be zero or negative");

    images_per_file = message.images_per_file;
    run_number = message.run_number;
    run_name = message.run_name;
    transmission_error = false;

    total_data_acked_ok.store(0, std::memory_order_relaxed);
    total_data_acked_bad.store(0, std::memory_order_relaxed);
    total_data_acked_total.store(0, std::memory_order_relaxed);

    // Stopping a writer thread joins it, and closing a detached connection joins it too, so both
    // happen with connections_mutex released; the mutex is only taken to read and write the pool.
    std::vector<std::shared_ptr<Connection>> current;
    {
        std::lock_guard lg(connections_mutex);
        current = connections;
    }
    for (auto& c : current)
        StopDataCollectionThreads(*c);

    std::vector<std::shared_ptr<Connection>> dead;
    {
        std::lock_guard lg(connections_mutex);
        dead = DetachDeadConnections();
    }
    CloseDeadConnections(dead);

    std::vector<std::shared_ptr<Connection>> local_connections;
    {
        std::lock_guard lg(connections_mutex);
        if (connections.empty())
            throw JFJochException(JFJochExceptionCategory::InputParameterInvalid, "No writers connected to " + endpoint);

        session_connections = connections;
        calibration_connection = session_connections[0];
        local_connections = session_connections;
    }

    logger.Info("Starting data collection with " + std::to_string(local_connections.size()) + " connected writers");
    data_collection_active = true;

    for (auto& c : local_connections)
        StartDataCollectionThreads(*c);

    std::vector<bool> started(local_connections.size(), false);

    auto rollback_cancel = [&]() {
        for (size_t i = 0; i < local_connections.size(); i++) {
            auto& c = *local_connections[i];
            if (!started[i] || c.broken)
                continue;

            std::unique_lock ul(c.send_mutex);
            (void)SendFrame(c, nullptr, 0, TCPFrameType::CANCEL, -1);

            std::string cancel_ack_err;
            (void)WaitForAck(c, TCPFrameType::CANCEL, std::chrono::milliseconds(500), &cancel_ack_err);
        }

        for (auto& c : local_connections)
            StopDataCollectionThreads(*c);

        {
            std::lock_guard lg(connections_mutex);
            session_connections.clear();
            calibration_connection.reset();
        }
        data_collection_active = false;
    };

    for (size_t i = 0; i < local_connections.size(); i++) {
        auto& c = *local_connections[i];

        message.socket_number = static_cast<int64_t>(c.socket_number);
        message.write_master_file = (i == 0);

        serializer.SerializeSequenceStart(message);

        {
            std::unique_lock ul(c.send_mutex);
            if (!SendFrame(c, serialization_buffer.data(), serializer.GetBufferSize(), TCPFrameType::START, -1)) {
                rollback_cancel();
                throw JFJochException(JFJochExceptionCategory::InputParameterInvalid,
                                      "Timeout/failure sending START on socket " + std::to_string(c.socket_number));
            }
        }

        std::string ack_err;
        if (!WaitForAck(c, TCPFrameType::START, std::chrono::seconds(5), &ack_err)) {
            rollback_cancel();
            throw JFJochException(JFJochExceptionCategory::InputParameterInvalid,
                                  "START ACK failed on socket " + std::to_string(c.socket_number) + ": " + ack_err);
        }

        started[i] = true;
    }
}

bool TCPStreamPusher::SendImage(const uint8_t *image_data, size_t image_size, int64_t image_number) {
    std::shared_ptr<Connection> target;
    size_t conn_count = 0;
    {
        std::lock_guard lg(connections_mutex);
        const auto& use = (!session_connections.empty() ? session_connections : connections);
        if (use.empty())
            return false;
        conn_count = use.size();
        auto idx = static_cast<size_t>((image_number / images_per_file) % static_cast<int64_t>(conn_count));
        target = use[idx];
    }

    auto& c = *target;
    if (c.broken || !IsConnectionAlive(c))
        return false;

    std::unique_lock ul(c.send_mutex);
    return SendFrame(c, image_data, image_size, TCPFrameType::DATA, image_number);
}

bool TCPStreamPusher::SendImage(ZeroCopyReturnValue &z) {
    // Look up the target connection while holding the mutex, but do NOT call
    // PutBlocking while holding it — that can block indefinitely and deadlock
    // against AcceptorThread/KeepaliveThread.
    std::shared_ptr<Connection> target;
    {
        std::lock_guard lg(connections_mutex);
        const auto& use = (!session_connections.empty() ? session_connections : connections);
        if (use.empty()) {
            z.release();
            return false;
        }

        auto idx = static_cast<size_t>((z.GetImageNumber() / images_per_file) % static_cast<int64_t>(use.size()));
        target = use[idx];
    }

    if (!target) {
        z.release();
        return false;
    }

    // A full queue means the writer is applying backpressure (e.g. briefly stalled on a
    // freshly-created file at startup). Keep waiting as long as it proves it is alive —
    // BUSY heartbeats / ACKs refresh last_peer_activity_ns from a thread independent of
    // its stalled write path — so a slow-but-healthy writer is held back, not dropped.
    // Only a peer that has gone completely silent for the liveness window is declared dead;
    // a writer that heartbeats but never drains is caught by SendAll's max_backpressure cap.
    while (!target->broken && target->active) {
        if (target->queue.PutTimeout(ImagePusherQueueElement{
                .z = &z,
                .end = false
            }, std::chrono::milliseconds(50)))
            return true;

        const int64_t silent_ns = SteadyNowNs() - target->last_peer_activity_ns.load(std::memory_order_relaxed);
        if (silent_ns > std::chrono::duration_cast<std::chrono::nanoseconds>(peer_liveness_timeout).count()) {
            logger.Warning("No liveness from writer on socket " + std::to_string(target->socket_number) +
                           " for " + std::to_string(silent_ns / 1000000) + " ms while enqueuing; marking broken");
            target->broken = true;
            break;
        }
    }

    z.release();
    return false;
}

bool TCPStreamPusher::EndDataCollection(const EndMessage& message) {
    serializer.SerializeSequenceEnd(message);

    bool ret = true;
    std::vector<std::shared_ptr<Connection>> local_connections;

    {
        std::lock_guard lg(connections_mutex);
        local_connections = (!session_connections.empty() ? session_connections : connections);
    }

    for (auto& cptr : local_connections) {
        auto& c = *cptr;

        // Flush all queued DATA before sending END: stopping the writer thread drains the
        // send queue and joins it, so every image is on the wire before END goes out. This
        // prevents END from overtaking images still waiting in the queue when the writer
        // thread has fallen behind (e.g. on a loaded machine), which would make the remote
        // writer finalize early and silently drop the trailing images.
        StopDataCollectionThreads(c);

        if (c.broken) {
            ret = false;
            continue;
        }

        {
            std::unique_lock ul(c.send_mutex);
            if (!SendFrame(c, serialization_buffer.data(), serializer.GetBufferSize(), TCPFrameType::END, -1)) {
                ret = false;
                continue;
            }
        }

        std::string ack_err;
        if (!WaitForEndAck(c, peer_liveness_timeout, &ack_err))
            ret = false;
    }

    {
        std::lock_guard lg(connections_mutex);
        session_connections.clear();
        calibration_connection.reset();
    }

    data_collection_active = false;
    transmission_error = !ret;
    return ret;
}

bool TCPStreamPusher::SendCalibration(const CompressedImage& message) {
    std::shared_ptr<Connection> target;

    {
        std::lock_guard lg(connections_mutex);

        if (!data_collection_active) {
            logger.Error("Refusing to send TCP calibration: no active run");
            return false;
        }

        if (!calibration_connection) {
            logger.Error("Refusing to send TCP calibration: calibration target is not set");
            return false;
        }

        target = calibration_connection;
    }

    if (!target) {
        logger.Error("Refusing to send TCP calibration: calibration target is null");
        return false;
    }

    if (target->broken) {
        logger.Error("Refusing to send TCP calibration: target socket {} is marked broken", target->socket_number);
        return false;
    }

    if (!target->connected) {
        logger.Error("Refusing to send TCP calibration: target socket {} is not connected", target->socket_number);
        return false;
    }

    if (!target->active) {
        logger.Error("Refusing to send TCP calibration: target socket {} is not active in current session", target->socket_number);
        return false;
    }

    serializer.SerializeCalibration(message);

    std::unique_lock ul(target->send_mutex);

    if (target->broken) {
        logger.Error("Refusing to send TCP calibration: target socket {} became broken before send", target->socket_number);
        return false;
    }

    if (!target->connected) {
        logger.Error("Refusing to send TCP calibration: target socket {} disconnected before send", target->socket_number);
        return false;
    }

    if (!target->active) {
        logger.Error("Refusing to send TCP calibration: target socket {} became inactive before send", target->socket_number);
        return false;
    }

    if (!IsConnectionAlive(*target)) {
        logger.Error("Refusing to send TCP calibration: target socket {} is not alive", target->socket_number);
        target->broken = true;
        return false;
    }

    const bool ok = SendFrame(*target,
                              serialization_buffer.data(),
                              serializer.GetBufferSize(),
                              TCPFrameType::CALIBRATION,
                              -1);

    if (!ok) {
        logger.Error("Failed to send TCP calibration on socket {}", target->socket_number);
        target->broken = true;
        return false;
    }

    return true;
}

std::string TCPStreamPusher::Finalize() {
    std::string ret;
    if (transmission_error)
        ret += "Timeout sending images (e.g., writer disabled during data collection);";

    std::lock_guard lg(connections_mutex);
    for (size_t i = 0; i < connections.size(); i++) {
        auto& c = *connections[i];
        {
            std::unique_lock ul(c.ack_mutex);

            if (c.data_ack_error_reported && !c.data_ack_error_text.empty()) {
                ret += "Writer " + std::to_string(c.socket_number) + ": " + c.data_ack_error_text + ";";
            } else if (!c.last_ack_error.empty()) {
                ret += "Writer " + std::to_string(c.socket_number) + ": " + c.last_ack_error + ";";
            }
        }
    }

    return ret;
}

std::string TCPStreamPusher::PrintSetup() const {
    return "TCPStreamPusher: endpoint=" + endpoint +
           " max_connections=" + std::to_string(max_connections) +
           " connected=" + std::to_string(GetConnectedWriters());
}

std::optional<uint64_t> TCPStreamPusher::GetImagesWritten() const {
    return total_data_acked_ok.load(std::memory_order_relaxed);
}

std::optional<uint64_t> TCPStreamPusher::GetImagesWriteError() const {
    return total_data_acked_bad.load(std::memory_order_relaxed);
}

std::vector<int64_t> TCPStreamPusher::GetWriterFifoUtilization() const {
    std::vector<int64_t> ret;
    std::lock_guard lg(connections_mutex);
    ret.reserve(connections.size());
    for (const auto& c : connections) {
        ret.push_back(c->last_ack_fifo_occupancy.load(std::memory_order_relaxed));
    }
    return ret;
}